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<div class="title">StateEstimatorContainer.h</div>  </div>
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<a href="../../d8/d87/_state_estimator_container_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef PROJECT_STATEESTIMATOR_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define PROJECT_STATEESTIMATOR_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d53/_robot_parameters_8h.html">ControlParameters/RobotParameters.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d41/_leg_controller_8h.html">Controllers/LegController.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/df2/_i_m_u_types_8h.html">SimUtilities/IMUTypes.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/d0d/_visualization_data_8h.html">SimUtilities/VisualizationData.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;state_estimator_lcmt.hpp&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html">   23</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#ad28dec217f9efc12b6f7fbeacbb5abbb">   25</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#ad28dec217f9efc12b6f7fbeacbb5abbb">contactEstimate</a>;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">   26</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">position</a>;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">   27</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">vBody</a>;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">   28</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">orientation</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">   29</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">omegaBody</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#aa8d72f4a283934e1f8717ab1df077332">   30</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#aa8d72f4a283934e1f8717ab1df077332">rBody</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">   31</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">rpy</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#a3148d1cc76cc531495ca806eeb6e51d3">   33</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#a3148d1cc76cc531495ca806eeb6e51d3">omegaWorld</a>;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">   34</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">vWorld</a>;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#aa4e35e30cff5a85525f8de36b577fac6">   35</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dd/df3/struct_state_estimate.html#a1e87f380c809140fce2045fbd9251cb1">aBody</a>, <a class="code" href="../../dd/df3/struct_state_estimate.html#aa4e35e30cff5a85525f8de36b577fac6">aWorld</a>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../dd/df3/struct_state_estimate.html#af02cdbf09fcd47b041b96aaf34e5ac38">   37</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../dd/df3/struct_state_estimate.html#af02cdbf09fcd47b041b96aaf34e5ac38">setLcm</a>(state_estimator_lcmt&amp; lcm_data) {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 3; i++) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      lcm_data.p[i] = position[i];</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      lcm_data.vWorld[i] = vWorld[i];</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      lcm_data.vBody[i] = vBody[i];</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      lcm_data.rpy[i] = rpy[i];</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      lcm_data.omegaBody[i] = omegaBody[i];</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      lcm_data.omegaWorld[i] = omegaWorld[i];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      lcm_data.quat[i] = orientation[i];</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;};</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html">   60</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a> {</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#aab44a1e0d44f8fc857b61b4bd57ee70b">   61</a></span>&#160;  <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;T&gt;</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#aab44a1e0d44f8fc857b61b4bd57ee70b">result</a>;  <span class="comment">// where to write the output to</span></div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#a78a196f127c32079551bfda6c264fc6d">   62</a></span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#a78a196f127c32079551bfda6c264fc6d">vectorNavData</a>;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#a8f51121c7f0d6035b636f03a04b012c7">   63</a></span>&#160;  <a class="code" href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt;double&gt;</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#a8f51121c7f0d6035b636f03a04b012c7">cheaterState</a>;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#a3eab7ea81b3fb517d761e0306e889898">   64</a></span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData&lt;T&gt;</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#a3eab7ea81b3fb517d761e0306e889898">legControllerData</a>;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#a5b4dc863a1cc24560e63e3210788d1c3">   65</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#a5b4dc863a1cc24560e63e3210788d1c3">contactPhase</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d1/d0d/struct_state_estimator_data.html#aaa21bd159a559c68b09ea498692bd6bc">   66</a></span>&#160;  <a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>* <a class="code" href="../../d1/d0d/struct_state_estimator_data.html#aaa21bd159a559c68b09ea498692bd6bc">parameters</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;};</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d9/d0a/class_generic_estimator.html">   73</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a> {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> run() = 0;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setup() = 0;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="../../d9/d0a/class_generic_estimator.html#a27ade6b2befdee9b901a9faf35e5dc16">   78</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d0a/class_generic_estimator.html#a27ade6b2befdee9b901a9faf35e5dc16">setData</a>(<a class="code" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData&lt;T&gt;</a> data) { _stateEstimatorData = data; }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a>() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">   81</a></span>&#160;  <a class="code" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData&lt;T&gt;</a> <a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;};</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html">   89</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a> {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a4e057460c574e41ace176040d07b5a4f">   96</a></span>&#160;  <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a4e057460c574e41ace176040d07b5a4f">StateEstimatorContainer</a>(<a class="code" href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt;double&gt;</a>* cheaterState,</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                          <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* vectorNavData,</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                          <a class="code" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData&lt;T&gt;</a>* legControllerData,</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                          <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;T&gt;</a>* stateEstimate,</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                          <a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>* parameters) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    _data.cheaterState = cheaterState;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    _data.vectorNavData = vectorNavData;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    _data.legControllerData = legControllerData;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    _data.result = stateEstimate;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    _phase = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    _data.contactPhase = &amp;_phase;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    _data.parameters = parameters;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a04295b74cd777aa6bdf8c155c506ae2c">  113</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a04295b74cd777aa6bdf8c155c506ae2c">run</a>(<a class="code" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a>* visualization = <span class="keyword">nullptr</span>) {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : _estimators) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      estimator-&gt;run();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">if</span> (visualization) {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      visualization-&gt;quat = _data.result-&gt;orientation.template cast&lt;float&gt;();</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      visualization-&gt;p = _data.result-&gt;position.template cast&lt;float&gt;();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="comment">// todo contact!</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a30209fff8429883fd71196eb6ed5b86a">  127</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;T&gt;</a>&amp; <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a30209fff8429883fd71196eb6ed5b86a">getResult</a>() { <span class="keywordflow">return</span> *_data.result; }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a100bfcb62c735fef211ae5564ca2e4f6">  132</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a100bfcb62c735fef211ae5564ca2e4f6">setContactPhase</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a>&amp; phase) { *_data.contactPhase = phase; }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> EstimatorToAdd&gt;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a82af04a884b97b78cabfa79e85fd353f">  139</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a82af04a884b97b78cabfa79e85fd353f">addEstimator</a>() {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">auto</span>* estimator = <span class="keyword">new</span> EstimatorToAdd();</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    estimator-&gt;setData(_data);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    estimator-&gt;setup();</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    _estimators.push_back(estimator);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> EstimatorToRemove&gt;</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a89a209109286c9ddda1610735ab16878">  151</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a89a209109286c9ddda1610735ab16878">removeEstimator</a>() {</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">int</span> nRemoved = 0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    _estimators.erase(</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        std::remove_if(_estimators.begin(), _estimators.end(),</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                       [&amp;nRemoved](<a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator&lt;T&gt;</a>* e) {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                         <span class="keywordflow">if</span> (dynamic_cast&lt;EstimatorToRemove*&gt;(e)) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                           <span class="keyword">delete</span> e;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                           nRemoved++;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                           <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                         } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                           <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                         }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                       }),</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        _estimators.end());</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#ad14b9aedc91b17e460bec6f5b73e024e">  170</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#ad14b9aedc91b17e460bec6f5b73e024e">removeAllEstimators</a>() {</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : _estimators) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">delete</span> estimator;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    _estimators.clear();</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#aadb928bb6fcb6dcd312178d210c08dbf">  177</a></span>&#160;  <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aadb928bb6fcb6dcd312178d210c08dbf">~StateEstimatorContainer</a>() {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : _estimators) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">delete</span> estimator;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">  184</a></span>&#160;  <a class="code" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData&lt;T&gt;</a> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>;</div><div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">  185</a></span>&#160;  std::vector&lt;GenericEstimator&lt;T&gt;*&gt; <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>;</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">  186</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">_phase</a>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;};</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="preprocessor">#endif  // PROJECT_STATEESTIMATOR_H</span></div><div class="ttc" id="struct_state_estimator_data_html_aaa21bd159a559c68b09ea498692bd6bc"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#aaa21bd159a559c68b09ea498692bd6bc">StateEstimatorData::parameters</a></div><div class="ttdeci">RobotControlParameters * parameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00066">StateEstimatorContainer.h:66</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html_a8f51121c7f0d6035b636f03a04b012c7"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#a8f51121c7f0d6035b636f03a04b012c7">StateEstimatorData::cheaterState</a></div><div class="ttdeci">CheaterState&lt; double &gt; * cheaterState</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00063">StateEstimatorContainer.h:63</a></div></div>
<div class="ttc" id="struct_state_estimate_html_ad28dec217f9efc12b6f7fbeacbb5abbb"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#ad28dec217f9efc12b6f7fbeacbb5abbb">StateEstimate::contactEstimate</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec4&lt; T &gt; contactEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00025">StateEstimatorContainer.h:25</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00037">VisualizationData.h:37</a></div></div>
<div class="ttc" id="struct_state_estimate_html_ae7dc9d3ea4146a925188e5d76a011eb0"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">StateEstimate::position</a></div><div class="ttdeci">Vec3&lt; T &gt; position</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00026">StateEstimatorContainer.h:26</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a5604dd4d628e611c9826fc07fb2ecece"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">StateEstimate::vBody</a></div><div class="ttdeci">Vec3&lt; T &gt; vBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00027">StateEstimatorContainer.h:27</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_aadb928bb6fcb6dcd312178d210c08dbf"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aadb928bb6fcb6dcd312178d210c08dbf">StateEstimatorContainer::~StateEstimatorContainer</a></div><div class="ttdeci">~StateEstimatorContainer()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00177">StateEstimatorContainer.h:177</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html_a3eab7ea81b3fb517d761e0306e889898"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#a3eab7ea81b3fb517d761e0306e889898">StateEstimatorData::legControllerData</a></div><div class="ttdeci">LegControllerData&lt; T &gt; * legControllerData</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00064">StateEstimatorContainer.h:64</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00060">StateEstimatorContainer.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_robot_parameters_8h_html"><div class="ttname"><a href="../../d9/d53/_robot_parameters_8h.html">RobotParameters.h</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_ad14b9aedc91b17e460bec6f5b73e024e"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#ad14b9aedc91b17e460bec6f5b73e024e">StateEstimatorContainer::removeAllEstimators</a></div><div class="ttdeci">void removeAllEstimators()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00170">StateEstimatorContainer.h:170</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
<div class="ttc" id="class_generic_estimator_html"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00073">StateEstimatorContainer.h:73</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a30209fff8429883fd71196eb6ed5b86a"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a30209fff8429883fd71196eb6ed5b86a">StateEstimatorContainer::getResult</a></div><div class="ttdeci">const StateEstimate&lt; T &gt; &amp; getResult()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00127">StateEstimatorContainer.h:127</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a1e87f380c809140fce2045fbd9251cb1"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a1e87f380c809140fce2045fbd9251cb1">StateEstimate::aBody</a></div><div class="ttdeci">Vec3&lt; T &gt; aBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00035">StateEstimatorContainer.h:35</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a82af04a884b97b78cabfa79e85fd353f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a82af04a884b97b78cabfa79e85fd353f">StateEstimatorContainer::addEstimator</a></div><div class="ttdeci">void addEstimator()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00139">StateEstimatorContainer.h:139</a></div></div>
<div class="ttc" id="class_generic_estimator_html_a27ade6b2befdee9b901a9faf35e5dc16"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html#a27ade6b2befdee9b901a9faf35e5dc16">GenericEstimator::setData</a></div><div class="ttdeci">void setData(StateEstimatorData&lt; T &gt; data)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00078">StateEstimatorContainer.h:78</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html_aab44a1e0d44f8fc857b61b4bd57ee70b"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#aab44a1e0d44f8fc857b61b4bd57ee70b">StateEstimatorData::result</a></div><div class="ttdeci">StateEstimate&lt; T &gt; * result</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00061">StateEstimatorContainer.h:61</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a3148d1cc76cc531495ca806eeb6e51d3"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a3148d1cc76cc531495ca806eeb6e51d3">StateEstimate::omegaWorld</a></div><div class="ttdeci">Vec3&lt; T &gt; omegaWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00033">StateEstimatorContainer.h:33</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a89a209109286c9ddda1610735ab16878"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a89a209109286c9ddda1610735ab16878">StateEstimatorContainer::removeEstimator</a></div><div class="ttdeci">void removeEstimator()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00151">StateEstimatorContainer.h:151</a></div></div>
<div class="ttc" id="struct_cheater_state_html"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt; double &gt;</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00034">LegController.h:34</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a29be945dea0e213dddba8d22abd69dac"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">StateEstimate::vWorld</a></div><div class="ttdeci">Vec3&lt; T &gt; vWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00034">StateEstimatorContainer.h:34</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a8d2cc1b3472744641cc2e88dbb67e8a5"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">StateEstimatorContainer::_phase</a></div><div class="ttdeci">Vec4&lt; T &gt; _phase</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00186">StateEstimatorContainer.h:186</a></div></div>
<div class="ttc" id="struct_state_estimate_html_ab4264e7f4daad8b4fb6f15d41268e618"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">StateEstimate::rpy</a></div><div class="ttdeci">Vec3&lt; T &gt; rpy</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00031">StateEstimatorContainer.h:31</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a04295b74cd777aa6bdf8c155c506ae2c"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a04295b74cd777aa6bdf8c155c506ae2c">StateEstimatorContainer::run</a></div><div class="ttdeci">void run(CheetahVisualization *visualization=nullptr)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00113">StateEstimatorContainer.h:113</a></div></div>
<div class="ttc" id="class_state_estimator_container_html"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00089">StateEstimatorContainer.h:89</a></div></div>
<div class="ttc" id="_leg_controller_8h_html"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html">LegController.h</a></div><div class="ttdoc">Common Leg Control Interface and Leg Control Algorithms. </div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="struct_state_estimate_html_aa5aa74305f72670494e6203653b3d37f"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">StateEstimate::omegaBody</a></div><div class="ttdeci">Vec3&lt; T &gt; omegaBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00029">StateEstimatorContainer.h:29</a></div></div>
<div class="ttc" id="struct_state_estimate_html_aa8d72f4a283934e1f8717ab1df077332"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#aa8d72f4a283934e1f8717ab1df077332">StateEstimate::rBody</a></div><div class="ttdeci">RotMat&lt; T &gt; rBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00030">StateEstimatorContainer.h:30</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a02565a6497c4966d0b8225101a69828e"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">StateEstimate::orientation</a></div><div class="ttdeci">Quat&lt; T &gt; orientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00028">StateEstimatorContainer.h:28</a></div></div>
<div class="ttc" id="struct_state_estimate_html_af02cdbf09fcd47b041b96aaf34e5ac38"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#af02cdbf09fcd47b041b96aaf34e5ac38">StateEstimate::setLcm</a></div><div class="ttdeci">void setLcm(state_estimator_lcmt &amp;lcm_data)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00037">StateEstimatorContainer.h:37</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a4e057460c574e41ace176040d07b5a4f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a4e057460c574e41ace176040d07b5a4f">StateEstimatorContainer::StateEstimatorContainer</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW StateEstimatorContainer(CheaterState&lt; double &gt; *cheaterState, VectorNavData *vectorNavData, LegControllerData&lt; T &gt; *legControllerData, StateEstimate&lt; T &gt; *stateEstimate, RobotControlParameters *parameters)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00096">StateEstimatorContainer.h:96</a></div></div>
<div class="ttc" id="struct_state_estimate_html"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html">StateEstimate</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00023">StateEstimatorContainer.h:23</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a100bfcb62c735fef211ae5564ca2e4f6"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a100bfcb62c735fef211ae5564ca2e4f6">StateEstimatorContainer::setContactPhase</a></div><div class="ttdeci">void setContactPhase(Vec4&lt; T &gt; &amp;phase)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00132">StateEstimatorContainer.h:132</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html_a78a196f127c32079551bfda6c264fc6d"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#a78a196f127c32079551bfda6c264fc6d">StateEstimatorData::vectorNavData</a></div><div class="ttdeci">VectorNavData * vectorNavData</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00062">StateEstimatorContainer.h:62</a></div></div>
<div class="ttc" id="_i_m_u_types_8h_html"><div class="ttname"><a href="../../d0/df2/_i_m_u_types_8h.html">IMUTypes.h</a></div><div class="ttdoc">Data from IMUs. </div></div>
<div class="ttc" id="struct_state_estimate_html_aa4e35e30cff5a85525f8de36b577fac6"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#aa4e35e30cff5a85525f8de36b577fac6">StateEstimate::aWorld</a></div><div class="ttdeci">Vec3&lt; T &gt; aWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00035">StateEstimatorContainer.h:35</a></div></div>
<div class="ttc" id="struct_state_estimator_data_html_a5b4dc863a1cc24560e63e3210788d1c3"><div class="ttname"><a href="../../d1/d0d/struct_state_estimator_data.html#a5b4dc863a1cc24560e63e3210788d1c3">StateEstimatorData::contactPhase</a></div><div class="ttdeci">Vec4&lt; T &gt; * contactPhase</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00065">StateEstimatorContainer.h:65</a></div></div>
<div class="ttc" id="_visualization_data_8h_html"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html">VisualizationData.h</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
<div class="ttc" id="class_generic_estimator_html_a56fbd538769ad236cec667a0e38b57ee"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">GenericEstimator::_stateEstimatorData</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _stateEstimatorData</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00081">StateEstimatorContainer.h:81</a></div></div>
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